JP2001087968A - Work holding device of pipe forming device and work handling method using the work holding device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent application of an unnecessary load on a parts transporting hand in a pipe forming device with its operation automated using parts transporting hand. SOLUTION: A core 20 of metal to hold a work for pipe WA is formed from a body part 21 and guide part 30, and the outside diameter of a guide front half 35 is made smaller in the diameter than the body part, where the corner is rounded. Even if the pipe grasped by a chuck 54A of a parts transporting hand is dislocated from the core-to-core line to a minor degree, the core can be inserted, and the area where the front half 35 of the guide is inserted into the pipe WA is smooth and no large force acts on the parts transporting hand. Because the hand releases the pipe and can separate when the pipe is held in the front half, a large friction force, etc., likely generated when the core is farther intruded to the specified depth does not act on the hand at all.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work holding apparatus for an apparatus for forming a flexible pipe having a bellows cross section by applying a liquid pressure to a straight pipe, for example.

[0002]

2. Description of the Related Art For example, an apparatus for forming a flexible pipe is disclosed in Japanese Patent Application Laid-Open No. 61-95927. As shown in FIG. 1 and FIG. 3 of the publication, the upper and lower molds are aligned, a pipe tube is inserted from the side and held between the mating surfaces, and then a core is inserted into both ends. It is supposed to. One of the metal cores is provided with a through hole, and serves as a nozzle for introducing a hydraulic pressure into the pipe from the outside. Both cores have a simple cross section in which the portion inserted into the pipe matches the pipe diameter. The outer circumference of the core is pressed by the upper and lower molds.However, in order to obtain a sealing function corresponding to high pressure hydraulic pressure, usually, in addition to mounting the seal ring, the diameter of the core has almost no play with respect to the pipe inner diameter. Not set.

[0003]

In the above-mentioned molding apparatus, the upper and lower molds are first fitted, and then the pipe is inserted. Therefore, the insertion of the pipe is performed on the premise of manual operation. I have. In order to automate this insertion step, a mechanism and space for pushing a pipe having a considerable length over its entire length by a stroke are required.

Accordingly, it has been considered to automate the setting of a pipe tube using a part transfer hand to improve the efficiency of pipe forming. In this case, as shown in FIG. 8, after the pipe W is first brought to the set position by the component transfer hand 5, the core metals 6 are inserted from both sides. Then, after shifting the upper and lower molds (not shown) to sandwich the pipe W from above and below, a hydraulic pressure is introduced into the pipe.

However, if the core metal 6 used in the conventional apparatus is used as it is, the inserted portion has a simple cross section that matches the inner diameter of the pipe W. And the parts transfer hand 5 is required to have high accuracy.
Also, since there is almost no play between the cored bar 6 and the pipe W,
Even if the alignment is slightly deviated, a frictional force is generated between the inserted cored bar 6 and the pipe W. This frictional force is not uniform at both ends, and an urging force acts on the pipe W in one axial direction.

Therefore, there is a problem that an unnecessary force acts on the component transfer hand 5 gripping the pipe W, which causes a failure. Accordingly, the present invention has been made in view of the above-described problems, and provides a work holding device for a pipe forming apparatus that does not apply an unnecessary load to a component transfer hand in an automated pipe forming apparatus using a component transfer hand. With the goal.

[0007]

Therefore, a work holding device of a pipe forming apparatus according to the present invention is supported by a support means for extending a core metal in an axial direction. A matching portion having an outer diameter to be matched, and a temporary holding portion having a smaller outer diameter than the matching portion in front of the matching portion, and a variable diameter portion having an outer diameter that changes between the matching portion and the temporary holding portion. And the corners of the temporary holding portion are rounded. Since the temporary holding part is smaller in diameter than the matching part and its corners are rounded, insert the core metal even if the pipe transferred to the set position by the part transfer hand is slightly off the line connecting the core metal. Can be. Moreover, since the temporary holding portion is smooth and does not generate any frictional force while the temporary holding portion is inserted into the pipe, a large force does not act on the component transfer hand.

[0008] The metal core comprises a main body inserted through a shaft extending from the support means, and a guide mounted on the tip of the shaft. The main body has a fitting portion and a smaller diameter than the fitting portion. A projection is provided and a step between them is used as a seal.The guide has a cap portion having the same outer diameter as the fitting portion and covering the protrusion, and a first half having a smaller diameter than the outer diameter of the cap. The first half constitutes a temporary holding part, the cap part and the fitting part constitute an alignment part, and a gap is formed between the seal part and the rear end face of the cap part. A ring may be provided. When an axial force is applied to the guide part due to the resistance of the end of the pipe from the temporary holding part of the guide part to the cap part, the guide part moves closer to the main body part and seals with the rear end face of the cap part. Since the gap between the parts is reduced and the seal ring is compressed, the seal when molding by applying a hydraulic pressure to the inside of the pipe is ensured.

The shaft of at least one of the metal cores holding both ends of the pipe can be formed with an axial through hole so that hydraulic pressure can be supplied into the pipe held by the metal core. .

Further, in the work handling method of the present invention, a first step of grasping a work with a component transfer hand and transferring the work on a line extending between the opposed metal cores, After the workpiece is inserted into the end of the workpiece, the component transfer hand releases the workpiece, a second step of inserting the core metal into the workpiece to a predetermined position, and forming the workpiece. It comprises a fourth step of grasping with the component transfer hand and removing the metal core from the work, and a fifth step of transferring the work from the line connecting the metal cores to the workpiece receiving side by the component transfer hand. While the temporary holding part of the core is inserted into the pipe held by the parts transfer hand, it is smooth and does not generate frictional force,
No large force acts on the component transfer hand. After that, when inserting the core metal to the predetermined position for holding required for molding, the parts transfer hand has released the work,
The large frictional force that can be generated during this time does not reach the component transfer hand at all.

In the fourth step, the core may be removed by a predetermined amount before the work is gripped by the component transfer hand, and the core may be completely removed after the component transfer hand grips the work. By removing the core metal by a predetermined amount in advance, the work is almost detached from the fitting part where large frictional force etc. can occur.Therefore, even if the core metal is further removed while holding the workpiece with the parts transfer hand, No large force acts on the component transfer hand.

[0012]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below with reference to working examples relating to processing of a flexible pipe.
FIG. 1 is a plan view showing a work holding portion in the pipe forming apparatus of the embodiment, and FIG. 2 is a sectional view taken along the line AA in FIG. Two core metal support parts 11 and 15 are installed facing each other with a gap in the axial direction. The core support 11 includes a cylinder 12
The piston 13 is provided with a piston 13 capable of moving forward and backward, and a metal core 20 for holding a pipe W as a work is attached to the tip of the piston 13. The core support 15 also includes a piston 17 that can advance and retreat from the cylinder 16, and a core 20 ′ that holds a work is attached to the tip of the piston 17.

An upper mold 60 for forming a pipe is provided above the pipe W held by the cored bars 20, 20 ', and a lower mold 6 is provided below.
5 are installed so as to be able to stroke vertically.
In addition, a component transfer hand 50 is provided on the side of the line connecting the cored bars 20, 20 '. The component transfer hand 50 is supported by a bracket (not shown),
It is possible to move between an inner position near the line connecting 0 'and an outer position separated outward.

As shown in FIG. 3, one core 20 comprises a main body 21 and a guide 30. As shown in FIG. Piston 13
A screw 42 is formed at the tip of a shaft 40 that penetrates the center hole 22 of the main body 21 from above, and the guide portion 30 is fixed to an end of the shaft 40 by a nut 49, and the guide portion 30
The main body 21 is sandwiched between the piston 13 and the end face of the piston 13. A stopper (not shown) is provided on the other end side of the shaft 40, and the amount of protrusion of the shaft from the end surface of the piston 13 is regulated. Further, a through hole 44 is formed in the shaft 40 to serve as a hydraulic pressure supply path.

The diameter of the main body 21 decreases in the order of the large-diameter portion 23, the fitting portion 24, and the protruding portion 25 from the end face side of the piston 13, and the step between the large-diameter portion 23 and the fitting portion 24 is a metal core. The stopper W serves as a stopper 26 of the pipe W inserted into the pipe 20.
The fitting portion 24 has an outer diameter that matches the inner diameter of the end of the pipe W. Further, a step portion between the fitting portion 24 and the protruding portion 25 becomes a seal portion 27.

The guide portion 30 has a through hole 31 through which the screw 42 of the shaft 40 passes, and the rear end portion has the same outer diameter as the fitting portion 24 of the main body portion 21 and covers the projection portion 25 with the cap portion 32. It has become. A predetermined gap is set between the rear end face 33 of the cap part 32 and the seal part 27 in a state where the shaft 40 projects the maximum amount from the end face of the piston 13, and an elastic seal ring 29 is provided in this gap. Have been. Further, a ring groove 46 is formed in the shaft 40 at a portion penetrating the main body 21, and an elastic seal ring 47 is provided in the ring groove 46.

The front half 35 of the guide portion 30 has an outer diameter smaller than the inner diameter of the pipe W, and the cap portion 32 and the front half 35 are connected by a variable diameter portion 34 whose outer diameter changes smoothly. . The corner of the first half 35 is rounded with R. A predetermined gap is provided between the end surface 28 of the protruding portion 25 of the main body 21 and the bottom surface 36 of the cap portion of the guide portion 30. As a result, when a force is applied to the guide portion 30 in the direction of the main body portion 21, the guide portion 30 is displaced in the direction of the main body portion 21, and a seal ring provided in a gap between the rear end face 33 of the cap portion 32 and the seal portion 27. 29 is compressed. The other core 20 ′ has the same configuration as the core 20 described above. However, the through hole 44 as a hydraulic pressure supply passage formed in the shaft 40 is not provided because it is unnecessary.

FIG. 4 is an enlarged view showing the component transfer hand. In particular, (a) is a plan view and (b) is a front view. The component transfer hand 50 has a drive unit 51, and the drive unit 51 can move between the inner position and the outer position as described above. An arm 52 extends from the drive unit 51. The arms 52 extend in both horizontal directions about a drive shaft 53 extending in the vertical direction, and have chucks 54A, 54B
It has.

The chucks 54A and 54B are configured by attaching pawls 56A and 56B to a pawl support member 55, respectively.
The claw 56A of one chuck 54A has a shape corresponding to the outer shape of the pipe blank WA, and the claw 5A of the other chuck 54B.
6B has a shape corresponding to the outer shape of the formed flexible pipe WB. The claw support member 55 is driven linearly as indicated by a virtual line. Here, since the diameter of the flexible pipe WB formed by bulge processing is larger than the diameter of the pipe blank WA, the diameter of the grip portion of the claw 56B of one chuck is larger than the diameter of the grip portion of the other claw 56A. I have.

The drive shaft 53 of the arm 52 is driven to rotate by a motor incorporated in the drive unit 51. The position of the component transfer hand 50 and the driving of the arm 52 are controlled in conjunction with the progress of the pipe forming process.

Next, the operation of this embodiment will be described. First, as shown in FIG. 5A, in a state where the upper mold 60 and the lower mold 65 are retracted upward and downward, the component transfer hand 50 uses the chuck 54A directed outward at the outer position. Grasp the pipe blank WA. Next,
As shown in (b), the component transfer hand 50 is
2A is rotated and the chuck 54A grips the pipe tube WA.
Is turned inward, and then moved to the inward position to position the pipe blank WA on the line connecting the cored bars 20, 20 'as shown in FIG.

Next, the pistons 13 and 17 of the metal core supports 11 and 15 extend, and the metal cores 20 and 20 'attached to the ends of the respective pistons enter both ends of the pipe blank WA. As shown in FIG. 7A, when the first half 35 of the guide portion 30 of the cored bar 20, 20 'is inserted into the pipe blank WA, the pistons 13, 17 stop temporarily. And
As shown in FIG. 6D, the component transfer hand 50 releases the chuck 54A that has been holding the pipe tube WA and moves outward by a predetermined amount.

Thereafter, the pistons 13 and 1 of the metal core support are provided.
7 further extends so that the end of the pipe shell WA is
The metal cores 20, 20 'are made to enter the pipe blank tube WA until they come into contact with the stopper portion 26 of FIG. At this time, the pipe tube W
When an axial force is applied to the guide portion 30 due to resistance while the edge of A advances to the cap portion 32 of the core metal guide portion 30,
The guide portion 30 is displaced toward and away from the main body portion 21 to reduce the gap between the rear end face 33 of the cap portion and the seal portion 27.
(B), the seal ring 29 is compressed.

In this way, the pipe blanks WA are
When it is set to 0 ', then, as shown in FIG.
The upper mold 60 and the lower mold 65 are stroked and the pipe blank W
A is sandwiched from above and below, and then a hydraulic pressure is introduced into the pipe tube WA from a hydraulic pressure supply device (not shown) through a through hole 44 formed in the shaft 40 of the cored bar 20. As a result, the pipe blank is bulged into a shape formed by the upper mold 60 and the lower mold 65, for example, and becomes a flexible pipe WB having a bellows cross section.

During this time, the component transfer hand 50, which has moved outward by a predetermined amount, rotates the arm 52 to direct the chuck 54B inward. The hydraulic pressure is released and the upper mold 60
When the lower mold 65 is retracted, the pistons 13 and 17 are retracted, and the cores 20 and 20 'are withdrawn by a predetermined amount. At this time, since the core metal and the axis of the flexible pipe WB coincide with each other on the metal cores 20 and 20 ′, the metal cores 20 and 20 ′ are aligned.
No large frictional force is generated between 0 'and the flexible pipe WB, and the two cores are almost uniformly pulled out. The above-mentioned predetermined amount is preferably such that both ends of the flexible pipe WB hang over the diameter changing portion or the first half portion of the guide portion when both cores are pulled out substantially evenly. Then, as shown in FIG. 6F, the component transfer hand 50 moves to the inward position and grips the flexible pipe WB with the inwardly directed chuck 54B.

The flexible pipe WB is a chuck 54B.
After being gripped by the piston, the piston 1 of the core metal support parts 11 and 15
3 and 17 are retracted from the flexible pipe WB to the core 2
0 and 20 'are skipped. Also at this time, the flexible pipe WB has already been slightly pulled out and its end edge is located in the front half portion 35 from the diameter changing portion 34 of the guide portion 30, so that the flexible pipe WB can be smoothly pulled out without any resistance.

Then, as shown in FIG. 6 (g), the component transfer hand 50 moves to the outer position, rotates the arm 52, and delivers the flexible pipe WB to a not-shown finished product receiver. Since the chuck 54A faces outward before the rotation of the arm 52, it is possible to prepare for the next processing by gripping a new pipe tube.

The present embodiment is constructed as described above, and the outer diameter of the front half 35 of the guide portion of the metal cores 20 and 20 'composed of the main body portion 21 and the guide portion 30 has a diameter matching the inner diameter of the pipe. Since the diameter is smaller than that of the part 21 and the corners are rounded, it is possible to insert the core even if the pipe blank WA gripped by the component transfer hand 50 is slightly off the line connecting the cores 20, 20 '. It is possible, and the first half 35 of the guide portion
Is smooth and does not generate any frictional force during insertion into the pipe blank WA, and no large force acts on the component transfer hand 50.

When the pipe tube WA is held by the first half 35 of the guide section 30, the component transfer hand 50 can release the pipe tube WA and leave it. A large frictional force or the like that can be generated when approaching to a predetermined depth does not reach the component transfer hand 50 at all. Also, after forming the flexible pipe,
Since the core is pulled out by a predetermined amount before the pipe is gripped by the parts transfer hand, the pipe is almost separated from the fitting part where large frictional force etc. can occur, and the parts transfer hand is also used when completely removing the core afterwards. Large force does not work. Therefore, there is no need to unnecessarily increase the rigidity of the chuck, arm, and the like of the component transfer hand 50, and a small and inexpensive configuration can be achieved to achieve high durability.

[0030]

As described above, according to the work holding device of the pipe forming apparatus of the present invention, the portion of the cored bar inserted into the pipe has a matching portion having an outer diameter matching the inner diameter of the pipe. The temporary holding portion has an outer diameter smaller than that of the matching portion, and the matching portion and the temporary holding portion are connected by a variable diameter portion whose outer diameter changes, and the corners of the temporary holding portion are rounded. Therefore, even if the pipe transferred to the set position by the component transfer hand is slightly off the line connecting the core, the core can be inserted. Then, while the temporary holding portion is inserted into the pipe, there is no frictional force generated and no large force acts on the component transfer hand, so that the rigidity of the component transfer hand does not need to be increased, and there is an effect that the cost can be reduced.

Further, according to the work handling method of the present invention, using the above-described work holding device, the work gripped by the component transfer hand is transferred onto a line extending between the opposed metal cores,
After inserting the temporary holding part of the core into the end of the work, the parts transfer hand releases the work, and then inserts the core into the work to perform the molding process. During the insertion of the gold temporary holding part, no large force acts on the parts transfer hand because it is smooth and no frictional force is generated. After that, the large frictional force that can be generated when the core metal is further inserted to the predetermined position is not Since the parts transfer hand releases the work, it does not reach the parts transfer hand at all. Therefore, high durability can be obtained even if a component transfer hand having low rigidity is used.

[Brief description of the drawings]

FIG. 1 is a plan view showing a configuration of an embodiment of the present invention.

FIG. 2 is a sectional view taken along the line AA of FIG.

FIG. 3 is an enlarged view showing details of a cored bar.

FIG. 4 is an enlarged view showing a component transfer hand.

FIG. 5 is an explanatory diagram showing an operation flow in the embodiment.

FIG. 6 is an explanatory diagram showing a flow of an operation in the embodiment.

FIG. 7 is an explanatory view showing a procedure for inserting a metal core.

FIG. 8 is a diagram showing a conventional example.

[Explanation of symbols]

 11, 15 Core support part 12, 16 Cylinder 13, 17 Piston 20, 20 'Core 21 Main part 22 Center hole 23 Large diameter part 24 Fitting part 25 Projection part 26 Stopper part 27 Seal part 28 End face 29, 47 Seal Ring 30 Guide part 31 Through hole 32 Cap part 33 Rear end face 34 Variable diameter part 35 Front half part 36 Bottom surface 40 Shaft 42 Screw 44 Through hole 46 Ring groove 50 Parts transfer hand 51 Drive unit 52 Arm 53 Drive shaft 54A, 54B Chuck 55 Claw Support member 56A, 56B Claw 60 Upper mold 65 Lower mold W pipe WA pipe raw pipe WB flexible pipe

Claims (5)

[Claims] An end of a pipe (WA) is connected to a metal core (20, 2).
0 ′) is a work holding device of a pipe forming device that performs a forming process by holding at a position 0 ′), wherein the metal core is supported by supporting means (13, 17) extending in the axial direction, and a portion inserted into the pipe is provided. A matching portion (2) having an outer diameter matching the inner diameter of the pipe.
4, 32) and a temporary holding portion (35) in front of the matching portion and having an outer diameter smaller than that of the matching portion, and a variable diameter portion in which the outer diameter changes between the matching portion and the temporary holding portion. Connected at (34),
A workpiece holding device for a pipe forming device, wherein a corner of the temporary holding portion is rounded. 2. The core (20, 20 ′) includes a body (21) inserted through a shaft (40) extending from the support means (13, 17), and a guide attached to a tip of the shaft. The main body includes a fitting portion (24) and a projection (2) having a smaller diameter than the fitting portion.
5) is provided, and the step between them is a seal part (27);
The guide portion includes a cap portion (32) having the same outer diameter as the fitting portion and covering the protruding portion, and a front half portion (35) having a diameter smaller than the outer diameter of the cap portion. When forming the temporary holding portion, the cap portion and the fitting portion form the matching portion, a gap is formed between the seal portion and the rear end face of the cap portion, and a seal ring (2) is formed in the gap.
The work holding device for a pipe forming device according to claim 1, wherein 9) is provided. 3. The shaft (4) of at least one of the cores (20) holding both ends of the pipe (WA).
3. A workpiece holding apparatus for a pipe forming apparatus according to claim 2, wherein an axial through-hole (44) is formed in the pipe (0) so as to be able to supply hydraulic pressure in the pipe held by the metal core. apparatus. 4. A work handling method using a work holding device according to claim 1, 2 or 3, wherein the work (WA) is gripped by a component transfer hand (50) and the work (WA) faces the work (WA). 20, 20 '), and a second step in which the part transfer hand releases the work after the temporary holding portion (35) of the metal core is inserted into the end of the work. A third step of further inserting the core metal into the work to a predetermined position and performing forming processing, and a fourth step of gripping the processed work (WB) with a part transfer hand and removing the core metal from the work; A step of transferring the workpiece from a line extending between the metal cores to the workpiece receiving side by the component transfer hand. 5. The method according to claim 5, wherein the fourth step is a work (WB)
The core bar (20, 20 ') is removed by a predetermined amount before the component transfer hand (50) is gripped, and the core bar is completely removed after the component transfer hand grips the work. 4. The work handling method according to 4.